Tethered aerial vehicles

Few works already showed the great potentials of tethered aerial vehicles in terms of enhanced flight stability and new application fields. However, deep formal analysis and understanding of tethered aerial vehicles were missing. The work during my thesis aims at filling this gap by proposing a comprehensive analysis of the dynamics, controllability and observability properties of tethered aerial vehicles, considering the most generic system (both cable- and bar-like links) and revealing novel physical interaction capabilities.

Related references

  1. L. Shi, Pantic, M., Andersson, O., Tognon, M., Siegwart, R., and Jacobsen, R. Hylsberg, Reactive Motion Planning for Rope Manipulation and Collision Avoidance using Aerial Robots, in 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022. Pdf
  2. M. Tognon and Franchi, A., Theory and Applications for Control of Aerial Robots in Physical Interaction Through Tethers, vol. 140. Springer, Springer Tracts in Advanced Robotics, 2020. Pdf
  3. M. Tognon, Dash, S. S., and Franchi, A., Observer-Based Control of Position and Tension for an Aerial Robot Tethered to a Moving Platform, IEEE Robotics and Automation Letters, vol. 1, no. 2, pp. 732-737, 2016. Pdf
  4. M. Tognon and Franchi, A., Landing and Take-off on/from Sloped and Non-planar Surfaces with more than 50 Degrees of Inclination, in 9th International Micro Air Vehicles Conference, Toulouse, France, 2017. Pdf
  5. M. Tognon and Franchi, A., Position Tracking Control for an Aerial Robot Passively Tethered to an Independently Moving Platform, in 20th World Congress of the International Federation of Automatic Control, Toulouse, France, 2017. Pdf
  6. M. Tognon, Testa, A., Rossi, E., and Franchi, A., Takeoff and landing on slopes via inclined hovering with a tethered aerial robot, in 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Daejeon, South Korea, 2016. Pdf
  7. M. Tognon and Franchi, A., Nonlinear observer for the control of bi-tethered multi aerial robots, in 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany, 2015. Pdf
  8. M. Tognon and Franchi, A., Control of Motion and Internal Stresses for a Chain of Two Underactuated Aerial Robots, in IEEE/EUCA 2015 European Control Conference, Linz, Austria, 2015. Pdf
  9. M. Tognon and Franchi, A., Nonlinear Observer-based Tracking Control of Link Stress and Elevation for a Tethered Aerial Robot using Inertial-only Measurements, in 2015 IEEE International Conference on Robotics and Automation (ICRA), Seattle, WA, 2015. Pdf
  10. M. Tognon and Franchi, A., Dynamics, Control, and Estimation for Aerial Robots Tethered by Cables or Bars, IEEE Transactions on Robotics, vol. 33, no. 4, pp. 834 - 845, 2017. Pdf